#ifndef NXBOT_H
#define NXBOT_H

//Cuantities used for NXBOT
#define NXBOT_ENCODER_RES (575.959/1000000.0)
#define NXBOT_WHEEL_DISTANCE 0.15//0.1575

//Tasks intervals in TICK units
//if TICK = 3000, then interval will be TICK / interval time
#define MOTOR_INTERVAL		75 //executed at 40 Hz
#define COMM_INTERVAL		10 //executed at 300 Hz
#define SENSOR_INTERVAL		20 // executed at 150 Hz

#include <avr/interrupt.h>

//Available Tasks
#include "commKTask.h"
#include "motorsTask.h"
#include "sensorsTask.h"
#include "PIControlTask.h"
#include "soundTask.h"

//high level routines
#include "commK.h"
#include "motors.h"
#include "sensors.h"
#include "sound.h"

//low level routines (TODO: QUITAR ESTO)
#include "uart.h"

//#include "buzzer.h"

//global parameters
#include "structures.h"

//jingles for nxbot
Jingle J_CONN;
Jingle J_DISCONN;
Jingle J_BATT;


//function prototypes
void nxbot_init(void);

#endif
